Extension of the do-mpc Development Framework to Real-time Simulation Studies

• Published in: IFAC-PapersOnLine 2019, Vol.52 (1), p.388-393
• Main Authors: Tatulea-Codrean, Alexandru, Lindscheid, Clemens, Farrera-Saldana, Rafael, Engell, Sebastian
• Format: Article
• Language: English
• Subjects: NMPC; real-time systems; real-time validation; simulation framework
• ISSN: 2405-8963; 2405-8963
• DOI: 10.1016/j.ifacol.2019.06.093

Nonlinear Model Predictive Control (NMPC) has become a serious option for industrial applications, with advances in software and algorithms making economics optimizing control suitable even for large scale systems. However, the industrial applications are posing a number of engineering challenges, related to the performance of NMPC in real plant environments. In this paper we address the issue of validating NMPC solutions in a real-time simulation environment, which mimics precisely the behavior of the controlled plant. We propose a validation strategy and describe the simulation framework that was developed in order to support the validation process. The software platform used for this purpose is based on the do-mpc framework, benefiting from its modularity and efficient implementation of NMPC algorithms. The focus of this work is the extension of the software environment to a real-application oriented platform where control scenarios can be simulated in real time. The necessity of the proposed validation strategy is demonstrated for a semi-batch polymerization example, where it is shown that feedback delays have a significant impact on the real-time performance. The necessary steps for a transition from simulation studies to the real application are discussed and a method for improving the NMPC performance is proposed based on the real-time simulation studies.